Hello.
Is there a function in KUKA to warn of approaching to the singularity positions? For example, I need to have a signal when position is less than X degrees to the alpha 5 or Y mm to the alpha 2.
Thank you.
KRC4 V8.3.22
Hello.
Is there a function in KUKA to warn of approaching to the singularity positions? For example, I need to have a signal when position is less than X degrees to the alpha 5 or Y mm to the alpha 2.
Thank you.
KRC4 V8.3.22
Lookup $singul_dist[].
Fubini
Fubini, thank you.
But, The variable is write-protected?
Why would that be a problem...?
Maybe I did not understand the meaning of the variable?
It calculates how much is left up to the singularity? Or is it a discrete variable, which detect are we in the state of singularity or not?
$SINGUL_DIST[] is a variable that gives a scaled current distance to all singularities. As mentioned in the system variables documantation a value less then 1 indicates you are "inside" the singularity. If you need a Output/signal just connect the value of $SINGUL_DIST[] to a output/signal with something like this:
IF $SINGUL_DIST[] < 1 THEN
$OUT[] = TRUE
ELSE
$OUT[] = FALSE
ENDIF
Please enter inside [] whatever singularity and output you are intrested in.
Fubini
Thank you very much